/* Copyright(C): Leaf Johnson 2009,2010

    This file is part of leaf-lib.

    leaf-lib is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    leaf-lib is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public License
    along with leaf-lib.  If not, see <http://www.gnu.org/licenses/>.


 * 
 * 
 */


#ifndef SEARCHLINE_H_INCLUDED
#define SEARCHLINE_H_INCLUDED
#include <leaf/base.h>

extern SpeedPair searchline(uint8_t sens, const SpeedPair *curSpeed);
extern void      searchline_reset(void);

extern void      searchline_set_kp(int8_t k);
extern void      searchline_set_kd(int8_t k);
extern void      searchline_set_adj_min( Bool v );
extern void      searchilne_set_max(int maxSpeed);
extern void      searchline_set_min(int minSpeed);
extern void      searchline_set_adjdiv(int);
extern int		 searchline_get_adjdiv(void);
extern int       searchline_get_max(void);
extern int       searchline_get_min(void);
extern int8_t    searchline_get_kp(void);
extern int8_t    searchline_get_kd(void);

#endif
